{
 "cells": [
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   "metadata": {},
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      "text/html": [
       "\n",
       "    <div class=\"bk-root\">\n",
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       "        <span id=\"1f645a1b-a7a8-4e25-8071-4207775426d4\">Loading BokehJS ...</span>\n",
       "    </div>"
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     "output_type": "display_data"
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     "data": {
      "application/javascript": [
       "\n",
       "(function(global) {\n",
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       "\n",
       "  var force = true;\n",
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       "\n",
       "\n",
       "  \n",
       "  if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "    window._bokeh_timeout = Date.now() + 5000;\n",
       "    window._bokeh_failed_load = false;\n",
       "  }\n",
       "\n",
       "  var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "     \"<div style='background-color: #fdd'>\\n\"+\n",
       "     \"<p>\\n\"+\n",
       "     \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "     \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "     \"</p>\\n\"+\n",
       "     \"<ul>\\n\"+\n",
       "     \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "     \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "     \"</ul>\\n\"+\n",
       "     \"<code>\\n\"+\n",
       "     \"from bokeh.resources import INLINE\\n\"+\n",
       "     \"output_notebook(resources=INLINE)\\n\"+\n",
       "     \"</code>\\n\"+\n",
       "     \"</div>\"}};\n",
       "\n",
       "  function display_loaded() {\n",
       "    if (window.Bokeh !== undefined) {\n",
       "      document.getElementById(\"1f645a1b-a7a8-4e25-8071-4207775426d4\").textContent = \"BokehJS successfully loaded.\";\n",
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       "      setTimeout(display_loaded, 100)\n",
       "    }\n",
       "  }\n",
       "\n",
       "  function run_callbacks() {\n",
       "    window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "    delete window._bokeh_onload_callbacks\n",
       "    console.info(\"Bokeh: all callbacks have finished\");\n",
       "  }\n",
       "\n",
       "  function load_libs(js_urls, callback) {\n",
       "    window._bokeh_onload_callbacks.push(callback);\n",
       "    if (window._bokeh_is_loading > 0) {\n",
       "      console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "      return null;\n",
       "    }\n",
       "    if (js_urls == null || js_urls.length === 0) {\n",
       "      run_callbacks();\n",
       "      return null;\n",
       "    }\n",
       "    console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "    window._bokeh_is_loading = js_urls.length;\n",
       "    for (var i = 0; i < js_urls.length; i++) {\n",
       "      var url = js_urls[i];\n",
       "      var s = document.createElement('script');\n",
       "      s.src = url;\n",
       "      s.async = false;\n",
       "      s.onreadystatechange = s.onload = function() {\n",
       "        window._bokeh_is_loading--;\n",
       "        if (window._bokeh_is_loading === 0) {\n",
       "          console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "          run_callbacks()\n",
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       "      };\n",
       "      s.onerror = function() {\n",
       "        console.warn(\"failed to load library \" + url);\n",
       "      };\n",
       "      console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "      document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "    }\n",
       "  };var element = document.getElementById(\"1f645a1b-a7a8-4e25-8071-4207775426d4\");\n",
       "  if (element == null) {\n",
       "    console.log(\"Bokeh: ERROR: autoload.js configured with elementid '1f645a1b-a7a8-4e25-8071-4207775426d4' but no matching script tag was found. \")\n",
       "    return false;\n",
       "  }\n",
       "\n",
       "  var js_urls = [\"https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.js\", \"https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.js\"];\n",
       "\n",
       "  var inline_js = [\n",
       "    function(Bokeh) {\n",
       "      Bokeh.set_log_level(\"info\");\n",
       "    },\n",
       "    \n",
       "    function(Bokeh) {\n",
       "      \n",
       "      document.getElementById(\"1f645a1b-a7a8-4e25-8071-4207775426d4\").textContent = \"BokehJS is loading...\";\n",
       "    },\n",
       "    function(Bokeh) {\n",
       "      console.log(\"Bokeh: injecting CSS: https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.css\");\n",
       "      Bokeh.embed.inject_css(\"https://cdn.pydata.org/bokeh/release/bokeh-0.12.4.min.css\");\n",
       "      console.log(\"Bokeh: injecting CSS: https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.css\");\n",
       "      Bokeh.embed.inject_css(\"https://cdn.pydata.org/bokeh/release/bokeh-widgets-0.12.4.min.css\");\n",
       "    }\n",
       "  ];\n",
       "\n",
       "  function run_inline_js() {\n",
       "    \n",
       "    if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "      for (var i = 0; i < inline_js.length; i++) {\n",
       "        inline_js[i](window.Bokeh);\n",
       "      }if (force === true) {\n",
       "        display_loaded();\n",
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       "      setTimeout(run_inline_js, 100);\n",
       "    } else if (!window._bokeh_failed_load) {\n",
       "      console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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       "    }\n",
       "\n",
       "  }\n",
       "\n",
       "  if (window._bokeh_is_loading === 0) {\n",
       "    console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "    run_inline_js();\n",
       "  } else {\n",
       "    load_libs(js_urls, function() {\n",
       "      console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "      run_inline_js();\n",
       "    });\n",
       "  }\n",
       "}(this));"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import numpy as np\n",
    "from math import atan2\n",
    "from bokeh.io import output_notebook, show\n",
    "from bokeh.plotting import figure,output_file,show\n",
    "from bokeh.models import HoverTool\n",
    "from bokeh.models import ColumnDataSource\n",
    "output_notebook()\n",
    "import matplotlib.pyplot as plt\n",
    "plt.rcParams['font.sans-serif'] = ['SimHei']  \n",
    "plt.rcParams['axes.unicode_minus'] = False \n",
    "#https://nbviewer.jupyter.org/github/bokeh/bokeh-notebooks/tree/master/tutorial/"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 99,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "#输出文件格式：est_px est_py est_vx est_vy means_px means_py gt_px gt_py gt_vx gt_vy \n",
    "state = 0;   #融合数据：state  = 0;  激光雷达数据：state = 1; 毫米波雷达数据：state = 2\n",
    "file_path = \"output.txt\" #输出文件所在路径\n",
    "all_px_est = []\n",
    "all_py_est = []\n",
    "all_px_means = []\n",
    "all_py_means = []\n",
    "all_px_gt = []\n",
    "all_py_gt = []\n",
    "\n",
    "\n",
    "\n",
    "with open(file_path) as f:\n",
    "    \n",
    "    for line in f:\n",
    "        data = line.split() #以空格分割\n",
    "        est_px = float(data[0])\n",
    "        est_py = float(data[1])\n",
    "        est_vx = float(data[2])\n",
    "        est_vy = float(data[3])\n",
    "        means_px = float(data[4])\n",
    "        means_py = float(data[5])\n",
    "        gt_px = float(data[6])\n",
    "        gt_py = float(data[7])\n",
    "        gt_vx = float(data[8])\n",
    "        gt_vy = float(data[9])\n",
    "        all_px_est.append(est_px)\n",
    "        all_py_est.append(est_py)\n",
    "        all_px_means.append(means_px)\n",
    "        all_py_means.append(means_py)\n",
    "        all_px_gt.append(gt_px)\n",
    "        all_py_gt.append(gt_py)\n",
    "\n",
    "\n",
    "est_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_est,\n",
    "    'y' : all_py_est \n",
    "})\n",
    "\n",
    "means_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_means,\n",
    "    'y' : all_py_means \n",
    "})\n",
    "\n",
    "gt_source = ColumnDataSource(data = {\n",
    "    'x' : all_px_gt,\n",
    "    'y' : all_py_gt\n",
    "})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 100,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "\n",
       "\n",
       "    <div class=\"bk-root\">\n",
       "        <div class=\"bk-plotdiv\" id=\"89a316d9-f4d6-4176-a9a3-3113c88c448a\"></div>\n",
       "    </div>\n",
       "<script type=\"text/javascript\">\n",
       "  \n",
       "  (function(global) {\n",
       "    function now() {\n",
       "      return new Date();\n",
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       "  \n",
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       "      window._bokeh_onload_callbacks = [];\n",
       "      window._bokeh_is_loading = undefined;\n",
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       "  \n",
       "  \n",
       "    \n",
       "    if (typeof (window._bokeh_timeout) === \"undefined\" || force === true) {\n",
       "      window._bokeh_timeout = Date.now() + 0;\n",
       "      window._bokeh_failed_load = false;\n",
       "    }\n",
       "  \n",
       "    var NB_LOAD_WARNING = {'data': {'text/html':\n",
       "       \"<div style='background-color: #fdd'>\\n\"+\n",
       "       \"<p>\\n\"+\n",
       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
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       "  \n",
       "    function run_callbacks() {\n",
       "      window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "      delete window._bokeh_onload_callbacks\n",
       "      console.info(\"Bokeh: all callbacks have finished\");\n",
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       "  \n",
       "    function load_libs(js_urls, callback) {\n",
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       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "        return null;\n",
       "      }\n",
       "      if (js_urls == null || js_urls.length === 0) {\n",
       "        run_callbacks();\n",
       "        return null;\n",
       "      }\n",
       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
       "        var url = js_urls[i];\n",
       "        var s = document.createElement('script');\n",
       "        s.src = url;\n",
       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
       "          }\n",
       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "      }\n",
       "    };var element = document.getElementById(\"89a316d9-f4d6-4176-a9a3-3113c88c448a\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '89a316d9-f4d6-4176-a9a3-3113c88c448a' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
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       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
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       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
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     "metadata": {},
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   "source": [
    "-"
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  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "metadata": {},
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       "       \"BokehJS does not appear to have successfully loaded. If loading BokehJS from CDN, this \\n\"+\n",
       "       \"may be due to a slow or bad network connection. Possible fixes:\\n\"+\n",
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       "      function(Bokeh) {\n",
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       "        setTimeout(run_inline_js, 100);\n",
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       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
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       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
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     "metadata": {},
     "output_type": "display_data"
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   ],
   "source": [
    "if(state == 0):\n",
    "    p = figure(title = \"radar、lidar融合数据曲线\",title_location = \"above\",x_axis_label = 'px',y_axis_label = \"py\",plot_width = 1000, plot_height = 700)\n",
    "elif(state == 1):\n",
    "    p = figure(title = \"lidar数据曲线\",title_location = \"above\",x_axis_label = 'px',y_axis_label = \"py\",plot_width = 1000, plot_height = 700)\n",
    "else:\n",
    "    p = figure(title = \"radar数据曲线\",title_location = \"above\",x_axis_label = 'px',y_axis_label = \"py\",plot_width = 1000, plot_height = 700)\n",
    "\n",
    "#画出估计值\n",
    "p.line('x', 'y',line_width = 2,line_color = \"blue\",legend = \"扩展卡尔曼估计值\",source = est_source)\n",
    "p.circle('x', 'y', size =3,line_width = 1,fill_color = \"blue\",line_color = \"blue\",fill_alpha = 1,legend = \"扩展卡尔曼估计值\",source = est_source)\n",
    "#画出测量值\n",
    "p.circle('x', 'y', size = 4,fill_color = \"green\",line_color = \"green\",fill_alpha = 1,line_width = 1,legend = \"测量数据\",source = means_source)\n",
    "#画出真实值\n",
    "p.line('x', 'y',line_color = \"red\",line_width =2, legend = \"真实值\",source = gt_source)\n",
    "p.circle('x', 'y', size =3,line_width = 1, fill_color = \"red\",line_color = \"red\",fill_alpha = 1,legend = \"真实值\",source = gt_source)\n",
    "p.legend.location = \"bottom_right\"\n",
    "show(p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 102,
   "metadata": {},
   "outputs": [
    {
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       "       \"</p>\\n\"+\n",
       "       \"<ul>\\n\"+\n",
       "       \"<li>re-rerun `output_notebook()` to attempt to load from CDN again, or</li>\\n\"+\n",
       "       \"<li>use INLINE resources instead, as so:</li>\\n\"+\n",
       "       \"</ul>\\n\"+\n",
       "       \"<code>\\n\"+\n",
       "       \"from bokeh.resources import INLINE\\n\"+\n",
       "       \"output_notebook(resources=INLINE)\\n\"+\n",
       "       \"</code>\\n\"+\n",
       "       \"</div>\"}};\n",
       "  \n",
       "    function display_loaded() {\n",
       "      if (window.Bokeh !== undefined) {\n",
       "        document.getElementById(\"3078eef0-fd2d-45e5-a47d-55fbc018bf68\").textContent = \"BokehJS successfully loaded.\";\n",
       "      } else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(display_loaded, 100)\n",
       "      }\n",
       "    }\n",
       "  \n",
       "    function run_callbacks() {\n",
       "      window._bokeh_onload_callbacks.forEach(function(callback) { callback() });\n",
       "      delete window._bokeh_onload_callbacks\n",
       "      console.info(\"Bokeh: all callbacks have finished\");\n",
       "    }\n",
       "  \n",
       "    function load_libs(js_urls, callback) {\n",
       "      window._bokeh_onload_callbacks.push(callback);\n",
       "      if (window._bokeh_is_loading > 0) {\n",
       "        console.log(\"Bokeh: BokehJS is being loaded, scheduling callback at\", now());\n",
       "        return null;\n",
       "      }\n",
       "      if (js_urls == null || js_urls.length === 0) {\n",
       "        run_callbacks();\n",
       "        return null;\n",
       "      }\n",
       "      console.log(\"Bokeh: BokehJS not loaded, scheduling load and callback at\", now());\n",
       "      window._bokeh_is_loading = js_urls.length;\n",
       "      for (var i = 0; i < js_urls.length; i++) {\n",
       "        var url = js_urls[i];\n",
       "        var s = document.createElement('script');\n",
       "        s.src = url;\n",
       "        s.async = false;\n",
       "        s.onreadystatechange = s.onload = function() {\n",
       "          window._bokeh_is_loading--;\n",
       "          if (window._bokeh_is_loading === 0) {\n",
       "            console.log(\"Bokeh: all BokehJS libraries loaded\");\n",
       "            run_callbacks()\n",
       "          }\n",
       "        };\n",
       "        s.onerror = function() {\n",
       "          console.warn(\"failed to load library \" + url);\n",
       "        };\n",
       "        console.log(\"Bokeh: injecting script tag for BokehJS library: \", url);\n",
       "        document.getElementsByTagName(\"head\")[0].appendChild(s);\n",
       "      }\n",
       "    };var element = document.getElementById(\"3078eef0-fd2d-45e5-a47d-55fbc018bf68\");\n",
       "    if (element == null) {\n",
       "      console.log(\"Bokeh: ERROR: autoload.js configured with elementid '3078eef0-fd2d-45e5-a47d-55fbc018bf68' but no matching script tag was found. \")\n",
       "      return false;\n",
       "    }\n",
       "  \n",
       "    var js_urls = [];\n",
       "  \n",
       "    var inline_js = [\n",
       "      function(Bokeh) {\n",
       "        (function() {\n",
       "          var fn = function() {\n",
       "            var docs_json = 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       "            var render_items = [{\"docid\":\"1ad79965-4d39-41a2-a9c3-39b0e6bec9be\",\"elementid\":\"3078eef0-fd2d-45e5-a47d-55fbc018bf68\",\"modelid\":\"9211a0b9-331b-4164-adb5-dc0eeb6b0878\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
       "          };\n",
       "          if (document.readyState != \"loading\") fn();\n",
       "          else document.addEventListener(\"DOMContentLoaded\", fn);\n",
       "        })();\n",
       "      },\n",
       "      function(Bokeh) {\n",
       "      }\n",
       "    ];\n",
       "  \n",
       "    function run_inline_js() {\n",
       "      \n",
       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "        for (var i = 0; i < inline_js.length; i++) {\n",
       "          inline_js[i](window.Bokeh);\n",
       "        }if (force === true) {\n",
       "          display_loaded();\n",
       "        }} else if (Date.now() < window._bokeh_timeout) {\n",
       "        setTimeout(run_inline_js, 100);\n",
       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
       "        window._bokeh_failed_load = true;\n",
       "      } else if (force !== true) {\n",
       "        var cell = $(document.getElementById(\"3078eef0-fd2d-45e5-a47d-55fbc018bf68\")).parents('.cell').data().cell;\n",
       "        cell.output_area.append_execute_result(NB_LOAD_WARNING)\n",
       "      }\n",
       "  \n",
       "    }\n",
       "  \n",
       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
       "      run_inline_js();\n",
       "    } else {\n",
       "      load_libs(js_urls, function() {\n",
       "        console.log(\"Bokeh: BokehJS plotting callback run at\", now());\n",
       "        run_inline_js();\n",
       "      });\n",
       "    }\n",
       "  }(this));\n",
       "</script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from bokeh.layouts import gridplot\n",
    "\n",
    "\n",
    "\n",
    "plot_options = dict(width=300, plot_height=300)\n",
    "\n",
    "# create a new plot\n",
    "s1 = figure(**plot_options)\n",
    "s1.line('x', 'y', line_width = 0.5,legend = \"扩展卡尔曼估计值\", source = est_source)\n",
    "s1.circle('x', 'y', size =2, fill_color = \"blue\",line_color = \"blue\",fill_alpha = 1,legend = \"扩展卡尔曼估计值\", source = est_source)\n",
    "\n",
    "\n",
    "# create a new plot and share both ranges\n",
    "s2 = figure(x_range=s1.x_range, y_range=s1.y_range, **plot_options)\n",
    "s2.circle('x', 'y', size = 2, fill_color = \"green\",line_color = \"green\",fill_alpha = 1,line_width = 1, legend = \"测量数据\", source = means_source)\n",
    "\n",
    "# create a new plot and share only one range\n",
    "s3 = figure(x_range=s1.x_range, **plot_options)\n",
    "s3.line('x', 'y',line_color = \"red\",line_width = 0.5, legend = \"真实值\",source = gt_source)\n",
    "s3.circle('x', 'y', size =2, fill_color = \"red\",line_color = \"red\",fill_alpha = 1,legend = \"真实值\", source = gt_source)\n",
    "p = gridplot([[s1, s2, s3]])\n",
    "\n",
    "# show the results\n",
    "show(p)"
   ]
  }
 ],
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